/PROG  TL1_DROP
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 DROP";
PROG_SIZE	= 1219;
CREATE		= DATE 12-04-21  TIME 12:08:46;
MODIFIED	= DATE 25-01-02  TIME 22:13:54;
FILE_NAME	= ;
VERSION		= 0;
LINE_COUNT	= 23;
MEMORY_SIZE	= 1631;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[25]=OFF    ;
   6:J P[1:CLEAR] 40% CNT20 ACC40    ;
   7:  OVERRIDE=50% ;
   8:L P[2:APPROACH] 600mm/sec CNT50 ACC70    ;
   9:L P[3:APPROACH] 300mm/sec CNT50    ;
  10:L P[4:APPROACH] 300mm/sec FINE    ;
  11:L P[5:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[20]=ON    ;
  12:  DO[20]=ON ;
  13:  DO[13]=OFF ;
  14:  DO[14]=ON ;
  15:  WAIT DI[14]=ON    ;
  16:  WAIT   3.00(sec) ;
  17:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20]=OFF    ;
  18:  DO[14]=OFF ;
  19:L P[7:APPROACH] 300mm/sec CNT50    ;
  20:  WAIT DI[25]=ON    ;
  21:L P[8:APPROACH] 300mm/sec CNT50    ;
  22:L P[9:CLEAR] 500mm/sec CNT50 ACC70    ;
  23:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    -9.999 deg,	J2=   -40.764 deg,	J3=    57.750 deg,
	J4=      .000 deg,	J5=   -57.754 deg,	J6=    99.999 deg,
	E1=    16.095 deg
};
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    20.856 deg,	J2=   -21.632 deg,	J3=    79.805 deg,
	J4=    85.794 deg,	J5=  -110.449 deg,	J6=    78.985 deg,
	E1=    16.095 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3262.735  mm,	Y =   702.896  mm,	Z = -1277.817  mm,
	W =    13.112 deg,	P =    89.236 deg,	R =   -77.225 deg,
	E1=    14.108 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3266.220  mm,	Y =   473.497  mm,	Z = -1285.728  mm,
	W =   123.632 deg,	P =    89.810 deg,	R =    33.293 deg,
	E1=    14.110 deg
};
P[5:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3266.220  mm,	Y =   473.497  mm,	Z = -1404.608  mm,
	W =   123.631 deg,	P =    89.810 deg,	R =    33.292 deg,
	E1=    14.110 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3266.221  mm,	Y =   653.978  mm,	Z = -1404.607  mm,
	W =   123.630 deg,	P =    89.810 deg,	R =    33.291 deg,
	E1=    14.110 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.583  mm,	Y =   700.698  mm,	Z = -1256.697  mm,
	W =  -179.670 deg,	P =    89.667 deg,	R =    90.330 deg,
	E1=    16.095 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    20.856 deg,	J2=   -21.632 deg,	J3=    79.805 deg,
	J4=    85.794 deg,	J5=  -110.449 deg,	J6=    78.985 deg,
	E1=    16.095 deg
};
P[9:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    -9.999 deg,	J2=   -40.765 deg,	J3=    57.752 deg,
	J4=      .000 deg,	J5=   -57.754 deg,	J6=    99.998 deg,
	E1=    16.095 deg
};
/END
